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00044 #include "acado_optimal_control.hpp"
00045 #include <acado_gnuplot.hpp>
00046
00047
00048 int main( ){
00049
00050 USING_NAMESPACE_ACADO
00051
00052
00053
00054 #define v 0.1
00055 #define L 1.0
00056 #define Beta 0.2
00057 #define Delta 0.25
00058 #define E 11250.0
00059 #define k0 1E+06
00060 #define R 1.986
00061 #define K3 30.0
00062 #define Cin 0.02
00063 #define Tin 340.0
00064
00065
00066
00067
00068 DifferentialState x1,x2,x3;
00069 Control u ;
00070 DifferentialEquation f( 0.0, L );
00071
00072
00073
00074
00075 double Alpha, Gamma;
00076 Alpha = k0*exp(-E/(R*Tin));
00077 Gamma = E/(R*Tin);
00078
00079 f << dot(x1) == Alpha /v * (1.0-x1) * exp((Gamma*x2)/(1.0+x2));
00080 f << dot(x2) == (Alpha*Delta)/v * (1.0-x1) * exp((Gamma*x2)/(1.0+x2)) + Beta/v * (u-x2);
00081 f << dot(x3) == 1.0/K3*Beta/L*(u-x2);
00082
00083
00084
00085
00086 OCP ocp( 0.0, L, 50 );
00087 ocp.minimizeMayerTerm( 0, Cin*(1.0-x1) );
00088 ocp.minimizeMayerTerm( 1, x3 );
00089
00090 ocp.subjectTo( f );
00091
00092 ocp.subjectTo( AT_START, x1 == 0.0 );
00093 ocp.subjectTo( AT_START, x2 == 0.0 );
00094 ocp.subjectTo( AT_START, x3 == 0.0 );
00095
00096 ocp.subjectTo( 0.0 <= x1 <= 1.0 );
00097 ocp.subjectTo( (280.0-Tin)/Tin <= x2 <= (400.0-Tin)/Tin );
00098 ocp.subjectTo( (280.0-Tin)/Tin <= u <= (400.0-Tin)/Tin );
00099
00100
00101
00102
00103 MultiObjectiveAlgorithm algorithm(ocp);
00104
00105 algorithm.set( INTEGRATOR_TYPE, INT_BDF );
00106 algorithm.set( KKT_TOLERANCE, 1e-8 );
00107
00108 algorithm.set( PARETO_FRONT_GENERATION , PFG_NORMAL_BOUNDARY_INTERSECTION );
00109 algorithm.set( PARETO_FRONT_DISCRETIZATION, 11 );
00110
00111
00112
00113 algorithm.solveSingleObjective(0);
00114
00115 algorithm.getDifferentialStates("pfr_nominal_states0.txt");
00116 algorithm.getControls("pfr_nominal_controls0.txt");
00117
00118
00119
00120
00121 algorithm.solveSingleObjective(1);
00122
00123
00124 algorithm.solve();
00125
00126
00127
00128
00129
00130
00131
00132
00133
00134 VariablesGrid paretoFront;
00135 algorithm.getParetoFront( paretoFront );
00136
00137 GnuplotWindow window1;
00138 window1.addSubplot( paretoFront, "Pareto Front (conversion versus energy)", "OUTLET CONCENTRATION","ENERGY", PM_POINTS );
00139 window1.plot( );
00140
00141
00142
00143
00144 algorithm.printInfo();
00145
00146
00147
00148
00149 paretoFront.print();
00150
00151 return 0;
00152 }
00153
00154